Characteristics
After the development of a first platform able to move indoors, it was possible to optimize some aspects, resulting in a new prototype.
In this new version, the platform's weight has been reduced in 10%, relatively to the previous structure, and the caterpillars and ascent/descending mechanism of the legs became significantly faster.
The gain of velocity in both locomotion modes was achieved optimizing the multiplications applied to the motors. The previous multiplications produced forces superior to the required, causing low speeds at the terminals.
It was also possible to reduce the platform's dimensions, leading to the referred decrease of weight, without reducing the structure's stability. These changes reduced the robot’s effort to lift himself and raised its stability when supported over the wheeled-legs.
The new version of the platform continues to be composed by three main blocks:
First block: Two wheeled-legs that allow the robot to elevate himself and advance in order to overcome obstacles.
Second block: Central module that unites both caterpillars, supports the wheeled-legs and accommodates the lifting mechanism. Due to the forces generated by the ascending and descending movement, this structure is reinforced. All motors are located in here.
Third block: Formed by both caterpillars, disposed side by side, this module is responsible for the robot’s locomotion in plain terrains.
